Landing and payload loading structures

ABSTRACT

An example UAV landing structure includes a landing platform for a UAV, a cavity within the landing platform, and a track that runs along the landing platform and at least a part of the cavity. The UAV may include a winch system that includes a tether that may be coupled to a payload. Furthermore, the cavity may be aligned over a predetermined target location. The cavity may be sized to allow the winch system to pass a tethered payload through the cavity. The track may guide the UAV to a docked position over the cavity as the UAV moves along the landing platform. When the UAV is in the docked position, a payload may be loaded to or unloaded from the UAV through the cavity.

CROSS-REFERENCE

The present application is a continuation of U.S. patent applicationSer. No. 16/816,859, filed Mar. 12, 2020, which is a continuation ofU.S. patent application Ser. No. 15/358,935, filed Nov. 22, 2016, nowU.S. Pat. No. 10,604,252, the entire contents of which are hereinincorporated by reference.

BACKGROUND

An unmanned vehicle, which may also be referred to as an autonomousvehicle, is a vehicle capable of travel without a physically-presenthuman operator. An unmanned vehicle may operate in a remote-controlmode, in an autonomous mode, or in a partially autonomous mode.

When an unmanned vehicle operates in a remote-control mode, a pilot ordriver that is at a remote location can control the unmanned vehicle viacommands that are sent to the unmanned vehicle via a wireless link. Whenthe unmanned vehicle operates in autonomous mode, the unmanned vehicletypically moves based on pre-programmed navigation waypoints, dynamicautomation systems, or a combination of these. Further, some unmannedvehicles can operate in both a remote-control mode and an autonomousmode, and in some instances may do so concurrently. For instance, aremote pilot or driver may wish to leave navigation to an autonomoussystem while manually performing another task, such as operating amechanical system for picking up objects, as an example.

Various types of unmanned vehicles exist for various differentenvironments. For instance, unmanned vehicles exist for operation in theair, on the ground, underwater, and in space. Examples includequad-copters and tail-sitter UAVs, among others. Unmanned vehicles alsoexist for hybrid operations in which multi-environment operation ispossible. Examples of hybrid unmanned vehicles include an amphibiouscraft that is capable of operation on land as well as on water or afloatplane that is capable of landing on water as well as on land. Otherexamples are also possible. Furthermore, unmanned vehicles may requirephysical landing structure(s) to pick up or drop off payload, to chargebatteries, or to complete other tasks.

SUMMARY

The present application discloses implementations that relate to anunmanned aerial vehicle (UAV) landing structure. UAVs are increasinglymore common and as such, dedicated landing structures are necessary tosupport UAV delivery services. For example, a structure with thecapability to load and unload payloads from UAVs may help merchantslooking to utilize UAV delivery services in their business. In order tofacilitate delivery of payloads, a UAV may land on an elevated landingplatform and lower a payload through a cavity in the platform.Additional devices or systems may be included within the landingstructure in order to orientate the UAV or component(s) of the UAV suchthat the UAV can pick up or drop off a payload. For example, a track maybe coupled to the landing platform in order to position the UAV over thecavity. In another example, a track may be coupled to the landingplatform in order to align a tether of the UAV with a payload below thelanding platform. Example landing structures described herein may beinstalled on freestanding support structures or may be installed onexisting structures such as exterior building walls, rooftops, lampposts, cell towers, etc. Beneficially, the landing structure(s)described herein may be installed in a variety of locations withoutimpeding everyday life of merchants, customers, or other people, whileincreasing access to UAV delivery service to the same merchants,customers, or other people.

In at least one embodiment, a device is described. The device includes alanding platform for a UAV, a cavity within the landing platform, and atrack that runs along the landing platform and at least a part of thecavity. The UAV includes a winch system that includes a tether that canbe coupled to a payload. Furthermore, the cavity is aligned over apredetermined target location. Also, the cavity is sized to allow thewinch system to pass a tethered payload through the cavity.Additionally, the track guides the UAV to a docked position in which thetether is positioned over the cavity. When the UAV is in the dockedposition, the tether can raise or lower a payload through the cavity.

In another embodiment, a system is described. The system includes awinch system for a UAV, and a landing platform. The winch system of theUAV includes a tether that can be coupled to a payload. Furthermore, thelanding platform includes a cavity and a track that runs along thelanding platform and at least a part of the cavity. Additionally, thecavity is aligned over a predetermined target location. The cavity issized to allow the winch system to pass a tethered payload through thecavity. The track guides the UAV to a docked position over the cavity asthe UAV moves along the landing platform. When the UAV is in the dockedposition, a payload may be loaded to or unloaded from the UAV throughthe cavity.

In yet another embodiment, a method is described. The method includeslanding a UAV on a landing platform, the UAV engaging a track that runsalong the landing platform including along at least a part of a cavitywithin the landing platform, the track guiding the UAV to a dockedposition over the cavity, and then loading or unloading a payload to orfrom the UAV through the cavity when the UAV is in the docked position.The UAV includes a winch system that includes a tether that can becoupled to a payload. Furthermore, the cavity is aligned over apredetermined target location and is sized to allow the winch system topass a payload through the cavity.

In yet another aspect, another system is described. The system includesmeans for landing a UAV on a landing platform, means for engaging atrack that runs along the landing platform including along at least apart of a cavity within the landing platform, means for guiding the UAVto a docked position over the cavity, and means for loading or unloadinga payload to or from the UAV through the cavity when the UAV is in thedocked position. The UAV includes a winch system that includes a tetherthat can be coupled to a payload. Furthermore, the cavity is alignedover a predetermined target location and is sized to allow the winchsystem to pass a tethered payload through the cavity.

These as well as other aspects, advantages, and alternatives will becomeapparent to those of ordinary skill in the art by reading the followingdetailed description, with reference where appropriate to theaccompanying drawings.

BRIEF DESCRIPTION OF THE DRAWINGS

FIG. 1 depicts an unmanned aerial vehicle (UAV) on a loading structure,according to example embodiments.

FIG. 2A depicts a UAV on a loading structure, according to exampleembodiment.

FIG. 2B depicts a UAV on a loading structure, according to exampleembodiment.

FIG. 3A depicts a UAV on a loading structure, according to an exampleembodiment.

FIG. 3B depicts a UAV on a loading structure, according to an exampleembodiment.

FIG. 4 is a simplified block diagram of a UAV system and a landingstructure system, according to an example embodiment.

FIG. 5 is a flowchart for a method of loading/unloading payload from aUAV, according to an example embodiment.

FIG. 6 depicts a UAV on a loading structure, according to an exampleembodiment.

FIG. 7 depicts multiple UAVs on a loading structures, according to anexample embodiment.

FIG. 8 depicts multiple UAVs on a loading structure, according to anexample embodiment.

FIG. 9 depicts multiple UAVs on multiple loading structure, according toan example embodiment.

FIG. 10 depicts a UAV on a loading structure, according to an exampleembodiment.

FIG. 11A depicts a UAV landing and positioning over a cavity on aloading structure, according to an example embodiment.

FIG. 11B depicts a UAV landing and positioning over a cavity on aloading structure, according to an example embodiment.

FIG. 11C depicts a UAV landing and positioning over a cavity on aloading structure, according to an example embodiment.

FIG. 11D depicts a UAV landing and positioning over a cavity on aloading structure, according to an example embodiment.

FIG. 11E depicts a UAV landing and positioning over a cavity on aloading structure, according to an example embodiment.

FIG. 11F depicts a UAV landing and positioning over a cavity on aloading structure, according to an example embodiment.

FIG. 11G depicts a UAV landing and positioning over a cavity on aloading structure, according to an example embodiment.

FIG. 12A is a simplified illustration of A UAV, according to an exampleembodiment.

FIG. 12B is a simplified illustration of a UAV, according to an exampleembodiment.

FIG. 12C is a simplified illustration of a UAV, according to an exampleembodiment.

FIG. 12D is a simplified illustration of a UAV, according to an exampleembodiment.

FIG. 12E is a simplified illustration of a UAV, according to an exampleembodiment.

FIG. 13 is a simplified block diagram illustrating components of a UAV,according to an example embodiment.

FIG. 14 is a simplified block diagram illustrating a UAV system,according to an example embodiment.

DETAILED DESCRIPTION

Example devices, methods, and systems are described herein. Any exampleembodiment or feature described herein is not necessarily to beconstrued as preferred or advantageous over other embodiments orfeatures. The example embodiments described herein are not meant to belimiting. It will be readily understood that certain aspects of thedisclosed systems and methods can be arranged and combined in a widevariety of different configurations, all of which are contemplatedherein.

Furthermore, the particular arrangements shown in the Figures should notbe viewed as limiting. It should be understood that other embodimentsmight include more or less of each element shown in a given Figure.Further, some of the illustrated elements may be combined or omitted.Yet further, an example embodiment may include elements that are notillustrated in the Figures.

I. Overview

The present embodiments are related to a landing and loading structure(herein also called a “landing structure”) for unmanned aerial vehicles(UAVs). Herein, the terms “unmanned aerial vehicle” and “UAV” refer toany autonomous or semi-autonomous vehicle that is capable of performingsome functions without a physically present human pilot. A UAV can takevarious forms. For example, a UAV may take the form of a fixed-wingaircraft, a glider aircraft, a tail-sitter aircraft, a jet aircraft, aducted fan aircraft, a lighter-than-air dirigible such as a blimp orsteerable balloon, a rotorcraft such as a helicopter or multicopter,and/or an ornithopter, among other possibilities. In some aspects, UAVsmay be capable of vertical take-off and/or landing, among otherfeatures. Further, the terms “drone,” “unmanned aerial vehicle system”(UAVS), or “unmanned aerial system” (UAS) may also be used to refer to aUAV.

UAVs are increasingly being utilized to retrieve, carry, and deliverpayloads across a variety of industries. As such, infrastructure isneeded at both pickup and drop-off locations so that merchants,customers, and other users can utilize UAV delivery services. UAVlanding structures may provide known, dedicated, and safe landing areasfor one or more UAVs to land, pick up and/or drop off payloads.Furthermore, when the UAV is on the landing structure, the UAV may beable to complete a variety of other tasks such as recharging orreplacing batteries and uploading or downloading information from anetwork, among others.

UAVs may be used to deliver or retrieve a payload to or from anindividual or business (such as a restaurant delivering food to acustomer at the customer's house). A merchant's place of business mayinclude a landing structure for a UAV. The landing structure may includea predetermined target location that includes a payload for pick up. Inother examples, the predetermined target location may include a platformor other part of the landing structure for the UAV to drop off apayload. As such, the target location may be identified to the UAV as adestination for a task such as a delivery pick up or drop off.

Within at least one example, a merchant may load a payload onto orinside a loading area of a landing structure at a ground level. Themerchant may input details about the payload or the delivery on a userinterface coupled to the structure at ground level. Upon arriving at thelanding structure, a UAV may land on a landing platform above theloading area of the landing structure. Then components of the structureand/or the UAV may load the payload to the UAV for delivery. Loading thepayload may include securing the payload to a tether of the UAV andpossibly raising the payload up to the UAV.

After the payload is loaded, the UAV may then fly to anotherpredetermined target location that may include another landingstructure. Within examples, the predetermined target location may be ata specific location such as a customer's house, or near a location suchas in a customer's neighborhood, so that the customer can pick up thepayload from the UAV. Upon arriving at the predetermined targetlocation, the UAV may land on a landing structure. The structure and/orthe UAV may then transport the payload to a loading/unloading area ofthe structure at or near ground level so that the payload is easilyaccessible to the customer. As such, UAV landing and loading structuremay provide new ways for merchants and customers to utilize UAV deliveryservices.

The landing structure may be permanent, may be free-standing, may beattached or integrated into existing structures (e.g. walls ofbuildings, lamp posts, cell towers, etc.), and/or may even be movable(such as a UAV landing structure attached to a truck). An examplelanding structure may include a landing platform located at a bufferdistance above the average human height so that merchants, customers andother humans may be able to freely move around the landing structurewithout being obstructed or hindered by the landing platform or a UAV.Having the landing platform elevated the buffer distance above humansmay prevent injury to humans and/or damage to UAVs or other structures.In other embodiments, the landing platform may be located a bufferdistance away from human interaction. The buffer distance away fromhuman interaction may include a horizontal and/or vertical distance suchthat people around the landing platform are kept a safe distance awayfrom any UAVs landing or taking off. The buffer distance may also beconsidered a safety distance.

The landing platform may include a cavity within the platform in orderfor the UAV to interface with a payload. Further, the landing platformmay include a track, or other alignment feature, that may position theUAV or a component of the UAV to a position over the cavity such thatthe UAV or the component of the UAV is aligned to pick up or drop offthe payload. For example, the track may guide the UAV to a dockedposition over the cavity of the landing platform so that the UAV mayload or unload the payload through the cavity.

If the UAV is not aligned properly over the cavity, the UAV may not beable to access the loading area or the payload below the landingplatform. As such, the UAV may need to be orientated once it lands sothat the UAV can be aligned over the cavity in a docked position.However, it may be difficult to control the orientation or alignment ofthe UAV with just the power of the UAV when the UAV lands on the landingplatform. For example, using the UAV steering controls may not beprecise enough to properly orientate the UAV on the landing platformsuch that the UAV can be loaded/unloaded. Additionally, using the UAV'scontrols while on the landing platform may risk damage to the UAV or thesurroundings. Thus, having the track coupled to the landing platform inorder to guide the UAV reduces the need for high precision steering andcontrol of the UAV while the UAV is on the landing platform.

Beneficially, a UAV landing and loading structure may provide morepeople with access with UAV delivery services. Additionally, elevatedlanding platforms may reduce the risk of injury to humans. Moreover,inherent features of the landing structure may allow for installation ofthe landing structure on in a variety of locations without impedingeveryday life of people around the landing structure.

II. Example UAV Landing and Payload Loading Infrastructures

Referring now to the figures, FIG. 1 illustrates a scene with a landingstructure 100 installed at a merchant location (such as a restaurant orwarehouse). FIG. 1 depicts the landing structure 100 near the front of amerchant location, such as outside the front doors of a restaurant. Thelanding structure 100 may include the landing platform 105, a payloadplatform 140, a user interface 139, and a vertical support structure145. The payload platform 140 may carry a payload 135. Further, thelanding platform 105 may include a cavity 115 and may be coupled to thevertical support structure 145 on a bottom of the landing platform 105.A UAV 125 is also shown landed or perched on the landing platform 105 inFIG. 1 . The UAV 125 may include a winch system (not shown in FIG. 1 )that comprises a tether (not shown in FIG. 1 ) that is coupleable to thepayload 135. Within examples, the winch system may be positioned withinthe UAV 125 or attached to an underside of the UAV 125. The tether maybe coupleable to the payload 135 by utilizing a payload couplingapparatus 130.

Moreover, the landing structure 100 at the merchant location may includea predetermined target location. The landing structure 100 may be knownas a dedicated landing location for UAV 125 and other UAVs. Morespecifically, the predetermined target location may include the payloadplatform 140 within the landing structure 100. In other embodiments, aloading or unloading area that includes one or more payloads (such aspayload 135) may be designated as the predetermined target location.

In one example, the payload 135 may be loaded on the payload platform140 at a ground level that may be at or near the user interface 139. Theground level may be considered a height along the vertical supportstructure 145 that is easily accessible to a person standing on theground, such as a height of three to five feet. At the ground level, thevertical support structure 145 of the landing structure 100 may includethe user interface 139 for merchants, customers, or other UAV deliveryservice users. The user may input a variety of parameters orcharacteristics into a computer system of the landing structure 100 atthe user interface 139. Such characteristics inputted on the userinterface 139 may include details about the payload 135 like size,weight, and/or contents of the payload 135. Other characteristics thatmay be inputted on the user interface 139 may include deliverylogistics, such as an address for a delivery site, time of delivery, ortime of pick up, among others.

The payload 135 may travel vertically up and down the vertical supportstructure 145 on the payload platform 140 between the ground level and aloading level. The payload platform 140 may be movably coupled to thevertical support structure 145. The loading level may be a verticalheight or level in which the payload 135 interfaces and/or couples tothe payload coupling apparatus 130 of the UAV 125. In some embodiments,the loading level may be at or near the bottom of the landing platform105. In other embodiments the loading level may a distance halfway orthree-quarters up the vertical support structure 145. In yet even otherembodiments, the loading level may be the same as the ground level andthe payload platform 140 may remain stationary.

At the loading level, the payload 135 may be secured to a UAV 125utilizing a payload coupling apparatus 130. The payload 135 may passthrough the cavity 115 to the payload coupling apparatus 130. In otherexamples, the payload 135 and the payload coupling apparatus 130 maypass through the cavity 115 together. In such a case the payloadcoupling apparatus 130 may be attached to a first end of a tether and asecond end of the tether may be attached to a winch system that ispositioned within the UAV 125. The UAV 125 may lower and raise thepayload coupling apparatus 130 vertically in order to reach andinterface with the payload 135. As such, the cavity 115 may be sized toallow the winch system to pass a tethered payload 135 and/or the payloadcoupling apparatus 130 through the cavity 115.

The payload coupling apparatus 130 may include features such as ahook(s), a capsule, or a housing (or a combination thereof) that areconfigured to couple with the payload 135. The payload 135 may alsoinclude a handle or a hooking mechanism to interface with the payloadcoupling apparatus 130. The payload coupling apparatus may include othermechanical or electro-mechanical features.

The landing structure 100 may also include additional features such asan enclosure over all or a portion of the structure 100 to protect fromweather related elements such as wind, rain, snow, or extremetemperatures. Within examples, an enclosure may provide temperaturecontrol to the payload 135 in a situation where the payload 135 may besensitive to a temperature change. For example, the payload 135 may be ahot food delivery and the payload platform 140 may include a heatedenclosure that keeps the payload 135 warm. The landing structure 100 mayalso include additional features such as railings or gates around thepayload platform 140 that may prevent the payload 135 from falling tothe ground if there was a wind gust or the contents of the payload 135shifted.

In at least some examples, the landing structure 100 may be installed ina public, common area that may be a designated UAV delivery servicedrop-off and/or pickup location. In other examples, the landingstructure 100 may be installed at a specific address. The location ofsuch landing structures 100 may be known to a delivery system and to UAV125. As such, locations of landing structures 100 may be consideredknown or predetermined target locations where users may interface withUAV 125 in order to pick up or drop off a package or other payload 135.In some examples, there may be a network of predetermined targetlocations throughout a geographic area that are known to the UAV 125.

Within examples, the landing platform 105, and more specifically thecavity 115, may be installed such that the cavity 115 is aligned overthe predetermined target location. Thus, the UAV 125 may simplyvertically raise or lower a payload 135 to or from the predeterminedtarget location directly beneath the cavity 115. Furthermore, in someexamples, the landing structure 100, and specifically the landingplatform 105, may include navigational aids and the navigational aid maybe configured to transmit a signal to the UAV. The navigation aids mayprovide final UAV 125 landing guidance and may include fiducialmarkings, lights, sounds, radio frequencies, among other signals.

The landing structure 100 may be part of a system. The system mayinclude the UAV 125, the landing platform 105, and a control system. Thecontrol system may be located at the landing structure 100, within theUAV 125, or at a remote location, among other examples. The controlsystem may be configured to complete tasks as part of a loading and/orunloading process. For example, the control system may be configured toinstruct the UAV 125 to apply a symmetric forward thrust such thatlanding gear of the UAV contacts a track on the landing platform 105.The symmetric forward thrust of the UAV 125 may allow the UAV 125 totaxi along the landing platform 125 without any active steering by theUAV 125. The track may be considered a passive alignment feature, suchas a raised track or slot built into the landing platform 105. In otheraspects, the track may be considered an active alignment feature, suchas a conveyor belt or series of conveyor belts. The track may guide theUAV 125 over the cavity 115.

Furthermore, the control system may instruct the UAV 125 to continue toapply the forward thrust until the UAV 125 reaches the docked position.The control system may also determine if the UAV 125 has reached thedocked position, and then activate a winch system of the UAV 125 tolower a tether through the cavity 115. The tether may be coupled to thepayload coupling apparatus 130 at a first end and the winch system at asecond end. As such, the control system may instruct the winch system tolower the payload coupling apparatus 130 through the cavity 115 so thepayload coupling apparatus 130 may be coupled to or decoupled from thepayload 135. The control system may then determine that the tether hascoupled to the payload 135 or that the tether has decoupled from thepayload 135. Finally, the control system may then activate the winchsystem to raise the tether back through the cavity 115.

FIGS. 2A & 2B depict two additional scenes with other embodiments oflanding structures 200A and 200B respectively. In FIG. 2A, the landingstructure 200A may include a landing platform 205A and a verticalsupport structure 245A. A UAV 225A is also shown in FIG. 2A and includesa winch motor 290A, a tether 232A, and a payload coupling apparatus230A. The elements and features of landing structure 200A may be thesame or similar to the elements and features of landing structure 100 ofFIG. 1 .

In the scene depicted by FIG. 2A, the UAV 225A has landed on the landingplatform 205A and has unwound the tether 232 from a winch system in theUAV 225A, thus lowering the payload coupling apparatus 230A near aground level. The winch system in the UAV 225A may operate by utilizingthe winch motor 290A to raise and lower the payload coupling apparatus230A. At the ground level, a user may secure a payload 235A to thepayload coupling apparatus 230A. In such an example, the ground levelmay be the same as a loading level. As shown in FIG. 2A, the payloadcoupling apparatus 230A may include a hook and the payload 235A may be abag that has a handle that may be placed around the hook of the payloadcoupling apparatus 230A, thus securing the payload 235A to the payloadcoupling apparatus 230A.

In one example, after the payload 235A is secured, the winch motor 290Amay wind the tether 232A thus raising the payload 235A and the payloadcoupling apparatus 230A up to the loading platform 205A. The winch motor290A may continue to wind the tether 232A raising the payload 235A untilthe payload 235A has completely passed through a cavity (not shown inFIG. 2A) of the landing platform 205A.

Similarly, in another example, after the UAV 225A lands on the landingplatform 205A, the winch motor 290A may unwind and extend the tether232A vertically down towards the ground thus lowering the payload 235A.In such a case the landing structure 200A may include a predeterminedtarget location, such as a specific location within a neighborhood, andthe landing platform 205A, specifically the cavity (not shown) of theplatform 205A, may be aligned above the predetermined target location.As such, a user expecting a delivery may arrive at the predeterminedtarget location after being notified of the location. The user may thenunload the payload 235A from the payload coupling apparatus 230A atground level.

Also illustrated in FIG. 2A is the vertical support structure 245A. Inthis example, the vertical support structure 245A may be attached to anexterior wall of a building. In other embodiments the vertical supportstructure 245A may be free-standing. In yet other embodiments thevertical support structure 245A may be a city lamp post, a cell tower,or other structure.

In FIG. 2B, the landing structure 200B may include a landing platform205B, a payload platform 240B and a vertical support structure 245B. AUAV 225B is also shown in FIG. 2B and includes a winch motor 290B, atether 232B, and a payload coupling apparatus 230B. The elements andfeatures of landing structure 200B may be the same or similar to theelements and features of landing structure 100 of FIG. 1 and landingstructure 200A of FIG. 2A.

The embodiment illustrated in FIG. 2B, the UAV 225B has landed on thelanding platform 205B and is lowering the payload coupling apparatus235B utilizing the winch motor 290B to unwind the tether 232B. Thepayload coupling apparatus 235B may include a mechanism for openingand/or gripping a payload 235B. The payload 235B may be on the payloadplatform 240B and the payload platform 240B may be located under acavity (not shown in FIG. 2B) of the landing platform 205B. The payloadplatform 240B may be movably coupled to the vertical support structure245B such that the payload platform 240B may travel vertically between aground level (e.g. a height a user may first place the payload 235B onthe payload platform 240B) and a loading level. At the loading level thepayload 235B may be secured to the UAV 225B utilizing the payloadcoupling apparatus 230B. As such, in at least some examples, the loadinglevel may be at a greater height than the ground level.

In one aspect, the payload platform 240B may lift the payload 235Bhalfway up the vertical support structure 245B and may stop there. Thepayload coupling apparatus 230B may be lowered to the stopped payload235B, couple to the payload 235B, and then raise the payload 235B upthrough the cavity (not shown) of the landing platform 205B. Othercombinations of relative motion between the payload platform 240B andthe payload coupling apparatus 230B may be possible.

One aspect depicted in FIGS. 2A and 2B is a height of the loadingplatforms 205A-B above a ground surface and above a user of the landingstructures 200A-B. Within examples, a bottom(s) of the landingplatform(s) 205A-B may be located a buffer distance above an averagehuman height. By locating the landing platform(s) 205A-B the bufferdistance above humans on the ground, the UAV(s) 225A-B maintain a saferdistance away from humans on the ground. UAVs 225A-B may include rotorsand other components that are heavy and move at a high rate of speed andas such may cause injuries to users or bystanders of the landingstructures 200A-B. Thus, by maintaining the buffer distance above theaverage human height, the UAVs 225A-B may be safely kept away fromhumans on the ground. In some examples, the height of the bottom of theloading platform(s) 205A-B may be nine to fifteen feet above the groundsurface. In other examples, the height of the bottom of the loadingplatform(s) 205A-B may be at the buffer distance between four and tenfeet above the average human height such that the landing platforms205A-B are approximately nine to fifteen feet above the ground surface.In even other embodiments, the landing platform(s) 205A-B may be locateda buffer distance, or safety distance, away from human interaction. Thebuffer distance away from human interaction may be in a vertical and/orhorizontal direction from the landing platform(s) 205A-B. Further, thebuffer distance away from human interaction may include additionalsafety devices such as railings or walls that protect humans from UAVs225A-B during landing or take-off.

FIGS. 3A and 3B illustrate an example embodiment of a loading platform305. FIGS. 3A and 3B include the loading platform 305, a touchdown area310, a cavity 315, a track 320, at least one stop block 322, a UAV 325,a payload coupling apparatus 330, a tether 332, and a vertical supportstructure 345. The elements and features of FIGS. 3A and 3B may be thesame or similar to the elements and features within FIGS. 1, 2A, and 2B.For example, landing platform 305 may be the same or similar to landingplatforms 105, 205A, and 205B of FIGS. 1, 2A, and 2B respectively.

FIG. 3A is a top view of the loading platform 305A in which the UAV 325has landed in the touchdown area 310 of the loading platform 305. Thetouchdown area 310 may be a flat surface, or a primarily flat surface,that may have a larger footprint than the UAV 325. Within someembodiments, the touchdown area 310 may be horizontal, while in otherembodiments the touchdown area 310 may be at an angle. Within someexamples, the touchdown area 310 may be at an angle such that the downslope is in a direction towards the cavity 315. The touchdown area 310may include lights, sensors, or produce other signals that may identifythe touchdown area 310 of the landing platform 305 to the UAV 325.

The cavity 315 may provide access to an underside of the UAV 325 suchthat the UAV 325, or specifically the payload coupling apparatus 330 ofthe UAV 325, may couple with or decouple from a payload that the UAV 325may be picking up or delivering. Further, the cavity 315 may be sized toallow the payload and the payload coupling apparatus 330 to fit throughthe cavity 315. As such, in order for the UAV 325 to either unload orload the payload, after the UAV 325 lands in the touchdown area 310, theUAV 325 may need to taxi or move towards the cavity 315 such that thepayload may be loaded to or unloaded from an underside of the UAV 325.In order to facilitate proper loading or unloading operations features,it is important that the cavity 315, the payload coupling apparatus 330,and the payload are aligned along the same or nearly the same verticalaxis.

Because the cavity 315 may be sized to fit the payload through thecavity 315, and because it may be important for the payload couplingapparatus 330 to align with the payload below, the UAV 325 may need tomove to a specific location over the cavity 315. The specific locationand/or the area around the cavity 315 may be considered a dockedposition. Within at least one embodiment, the UAV 325 may use its ownpower to travel along the landing platform 305 to the cavity 315.However, the landing platform 305 may be relatively narrow and it maybecome difficult and require precise steering (either by remote controlfrom a user or by an autopilot system) in order to taxi the UAV 325 tothe docked position over the cavity 315.

Furthermore, while the UAV 325 may have a desired orientation when itlands on the landing platform 305 (e.g. orientated in a direction suchthat the UAV 325 only needs to travel forward to go over the cavity 315and reach the docked position), when the UAV 325 lands on the landingplatform 305, the UAV 325 may in fact have an orientation different thanthe desired orientation. For example, as depicted in FIG. 3A, the UAV325 may be at an angle to the cavity 315 of the landing platform 305 orthe track 320. As such, the UAV 325 may engage the track 320 and thetrack 320 may guide the UAV 325 to a docked position over the cavity315. Thus, the UAV 325 may only be required to apply symmetric or evenforward thrust to reach the docked position.

In FIG. 3B the UAV 325 may be in the docked position over the cavity315. The UAV 325 may have moved along the landing platform 305 beingguided by the track 320 to the docked position. The docked position mayrepresent a preferred location and orientation on the landing platform305. While in the docked position over the cavity 315, the UAV 325 thepayload may be loaded or unloaded from the UAV 325. Within some aspects,when the UAV is in the docked position the tether 332 may be positionedover the cavity such that the tether can raise or lower the payloadthrough the cavity 315. Furthermore, while in the docked position, theUAV 325 may be able to exchange or charge batteries on board the UAV325, among other tasks. Additionally, while in the docked position,mechanical restraints, such as clasps or flexible bands, may prevent theUAV 325 from moving or falling off the landing platform 325.

The track 320 may include a single or multiple pieces or portions.Within at least one example, for example as depicted in FIGS. 3A and 3B,the track 320 may include a straight portion of raised track that may belocated on the landing platform 305 near the touchdown area 310. Thetrack 320 may then include a tapered portion of raised track that beginsat the straight portion and tapers out to edges of the cavity 315.Furthermore, the track 320 may also then include a cavity portion oftrack that runs alongside at least a part of the cavity 315. Withinexamples, the track 320 may be considered to have a “Y” shape. Othergeometries of track 320 may be possible in order to guide the UAV 325 tothe docked position. For example, a generally circular track 320 may beutilized depending on the size and shape of the landing platform 305along with the location of the cavity 315 within the platform 305.

Within examples, the UAV 325, as depicted in FIG. 3A (i.e. at an angleto the cavity 315), may apply forward thrust, and a boom or othercomponent of the UAV 325 may engage the track 320, and as a result thetrack 320 may turn and orientate the UAV 325 such that the track 325 mayguide the UAV 325 to the docked position over the cavity 315. Engagingthe track 320 may include a component such as the boom of the UAV 325making contact with the track 320. Guiding the UAV 325 along the trackmay include turning the UAV 325 as it moves laterally along the landingplatform 305 such that the UAV 325 achieves a desired directionalheading over the cavity 315.

In some aspects, the track 320 may be a passive alignment feature. Forexample, the track 320 may be built into the platform 305 such that thetrack 320 acts as a physical barrier or obstacle that does not move. Inother aspects, the track 320 may be an active alignment feature. Forexample, the track 320 may include a conveyor belt or a series ofconveyor belts that guide the UAV 325 along the platform 305 over thecavity 315. Other examples of track 325 may be possible.

While the UAV 325 is thrusting forward it may be necessary to provide atleast one stop block 322 to mechanically prevent the UAV 325 fromtraveling beyond the cavity 315. Within embodiments, for example asdepicted in FIG. 3B, the at least one stop block 322 may engage orcoming into contact with a component such as landing gear of the UAV 325thus stopping the UAV 325 from continuing forward. The at least one stopblock 322 may include features that prevent the UAV 325 from movingvertically as well. As such, features of the stop block 322 may preventthe UAV 325 from coming disengaged from the platform 305 by a gust ofwind or other external force. Within one example, the at least one stopblock 322 may include a top section that is configured to come intocontact with the landing gear or another component of the UAV 325 if theUAV 325 experiences a gust of wind or other force in the verticaldirection. Within other examples, the at least one stop block 322 maysurround or capture at least a portion of the landing gear of the UAV325. The at least one stop block 322 may be located at a distal end ofthe landing platform 305 near the cavity 315. Within examples, in orderto disengage the at least one stop block, the UAV 325 may reverse thrustsuch that landing gear of the UAV 325 is no longer surrounded orcaptured by the at least one stop block 322.

III. Example Landing Structure Systems

FIG. 4 is a simplified block diagram illustrating components of alanding structure 400. The landing structure 400 may include similarelements and features of landing structure 100, landing structure200A-B, and landing platform 305 of FIGS. 1, 2A, 2B, 3A, and 3Brespectively.

Landing structure 400 may include various types of sensors, and mayinclude computing systems configured to provide the functionalitydescribed herein. The landing structure 400 may include sensors 460,such as sensors 460 to monitor a height of a payload platform or tomonitor status of a UAV when the UAV lands on the landing structure 400.

In the illustrated embodiment, landing structure 400 also includes oneor more processors 462. Processor 462 may be general-purpose processorsor special purpose processors (e.g., digital signal processors,application specific integrated circuits, etc.). The one or moreprocessors 462 can be configured to execute computer-readable programinstructions 468, that are stored in data storage 466 and are executableto provide the functionality of a UAV and a landing structure describedherein.

The data storage 466 may include or take the form of one or morecomputer-readable storage media that can be read or accessed by at leastone processor 462. The one or more computer-readable storage media caninclude volatile and/or non-volatile storage components, such asoptical, magnetic, organic or other memory or disc storage, which can beintegrated in whole or in part with at least one of the one or moreprocessors 462. In some embodiments, the data storage 466 can beimplemented using a single physical device (e.g., one optical, magnetic,organic or other memory or disc storage unit), while in otherembodiments, the data storage 466 can be implemented using two or morephysical devices.

In a further aspect, the landing structure 400 may include one or morecommunication systems 472. The communication systems 472 may include oneor more wireless interfaces and/or one or more wireline interfaces,which allow the landing structure 400 to communicate via one or morenetworks. Such wireless interfaces may provide for communication underone or more wireless communication protocols, such as Bluetooth, WiFi(e.g., an IEEE 802.11 protocol), Long-Term Evolution (LTE), WiMAX (e.g.,an IEEE 802.16 standard), a radio-frequency ID (RFID) protocol,near-field communication (NFC), and/or other wireless communicationprotocols. Such wireline interfaces may include an Ethernet interface, aUniversal Serial Bus (USB) interface, or similar interface tocommunicate via a wire, a twisted pair of wires, a coaxial cable, anoptical link, a fiber-optic link, or other physical connection to awireline network.

In some embodiments, the landing structure 400 may include communicationsystems 472 that allow for both short-range communication and long-rangecommunication. For example, the landing structure 400 may be configuredfor short-range communications using Bluetooth and for long-rangecommunications under a CDMA protocol. In such an embodiment, the landingstructure 400 may be configured to function as a “hot spot;” or in otherwords, as a gateway or proxy between a remote support device and one ormore data networks, such as a cellular network and/or the Internet.Configured as such, the landing structure 400 may facilitate datacommunications that the remote support device would otherwise be unableto perform by itself.

For example, the landing structure 400 may provide a WiFi connection toa remote device, and serve as a proxy or gateway to a cellular serviceprovider's data network, which the landing structure 400 might connectto under an LTE or a 3G protocol, for instance. The landing structure400 may also serve as a proxy or gateway to a high-altitude balloonnetwork, a satellite network, or a combination of these networks, amongothers, which a remote device might not be able to otherwise access.

In a further aspect, the landing structure 400 may include powersystem(s) 470. The power system 470 may include one or more batteries inaddition to hardline connection to an electrical grid. In one example,the one or more batteries may be rechargeable and each battery may berecharged via a wired connection between the battery and a power supplyand/or via a wireless charging system, such as an inductive chargingsystem that applies an external time-varying magnetic field to aninternal battery. In one aspect, extra batteries for the UAV may bestored and charged on the landing structure 400. As such, while the UAVis in a docked position on the landing structure 400, charged batteriesfrom the landing structure 400 may replace depleted batteries of theUAV.

IV. Example Method for Loading and Unloading a UAV

FIG. 5 is a flowchart of an example method 500 for loading or unloadinga UAV utilizing a landing structure. The method 500 may include one ormore operations, functions, or actions, as depicted by one or more ofblocks 502, 504, 506, and/or 508, each of which may be carried out byany of the devices or systems disclosed herein; however, otherconfigurations could also be used.

Further, illustrative methods, such as method 500, may be carried out inwhole or in part by a component(s) in a UAV landing structure system,such as one or more of the components in the UAV and landing structuresystems illustrated in FIG. 4 . It should be understood that examplemethods, such as method 500, might be carried out by entities, orcombinations of entities (i.e., by other computing devices, roboticdevices, and/or combinations thereof), without departing from the scopeof the invention.

As shown by block 502, the method 500 includes landing, by a UAV, on alanding platform. The landing platform may include a cavity within theplatform and a track. The track may include one or more portions ofraised track or may also include a slot cut into the platform. A bottomof the landing platform may be located a buffer distance above anaverage human height. By maintaining the buffer distance between theaverage human height and the landing platform, a landing structure maybe installed in a wide variety of locations while reducing physicalinteractions between the UAV and humans. Because the UAV may includeheavy and/or rotating parts that may cause human injury or propertydamage, safely locating the landing platform up above existingstructures may lower the risk of such human injury or property damage.

As shown by block 504, the method 500 further includes the UAV engagingthe track. Engaging the track may include, after the UAV has landed in atouchdown area of the landing platform, the UAV using a symmetricforward thrust to taxi along the platform until a component of the UAV,such as a boom located under a wing of the UAV engages the track. Theboom may engage the track by physically contacting the track.

Within examples, the track may run along the landing platform and alongat least a portion of the cavity of the platform. Further, the cavitymay be aligned over a predetermined target location. The predeterminedtarget location may be an address or a location designated to receive apackage or payload from the UAV. In some examples, the predeterminedtarget location may include a specific component of the landingstructure configured to store a payload. In other examples, thepredetermined target location may include an address or location inwhich the UAV is to pick up a payload. The cavity is thus aligned overthe target location so that the UAV can accurately pick up or drop off apayload while perched or landed up on the landing platform.Additionally, the cavity may be sized to allow a payload couplingapparatus of the UAV and the payload itself to be raised and loweredthrough the cavity.

As shown by block 506, the method 500 further includes guiding the UAValong the track to a docked position over the cavity. The track maypassively guide the UAV by acting as a bumper or railing that the UAVmay utilize in order to reach a preferred orientation and location onthe platform over the cavity. For example, after engaging the track, theUAV continue a forward thrust to continue taxiing along the platform.The UAV, by only using a balanced forward lateral thrust may be steeredby the track, that is, may be turned or oriented by the track, to thedocked location over the cavity.

As shown by block 508, the method 500 may also include loading orunloading a payload to or from the UAV through the cavity while the UAVis in the docked position. Within examples, while the UAV is in thedocked position, mechanical restraints or stop blocks or othermechanisms may hold the UAV in place for loading/unloading. Furthermore,while the UAV is in the docked position, the UAV may also exchange orreplace parts or components of the UAV system such as batteries, or maycouple to the landing platform or another component of the landingstructure to charge or download/upload information from a servernetwork.

The method 500 may include other steps or functions not shown in FIG. 5. For example, the method 500 may include transporting a payload from aground level to a loading level by a payload platform. The payloadplatform may be configured to move vertically along a vertical supportstructure that is coupled to the landing platform. Furthermore, thepayload platform may be aligned along a same vertical axis as the cavityof the landing platform to facilitate proper loading/unloading of theUAV.

The method 500 may also include a winch system positioned in the UAVmoving the payload coupling apparatus vertically up or down to securethe payload. For example, the payload platform may move halfway up thevertical support structure in the direction of the landing platform andthe winch system may unwind a tether attached to the payload couplingapparatus thus lowering the apparatus through the cavity and down fromthe landing platform to the location of the payload platform. Thelocation at which the payload coupling apparatus may secure the payloadmay be considered the loading level of the landing structure.

V. Alternative Embodiments of a UAV Landing Infrastructure

FIG. 6 illustrates another embodiment of a landing structure 600. Thelanding structure 600 may include a landing platform 605 and a cavity615. Further, the landing structure 600 may include similar elements andfeatures of the landing structure 100, the landing structures 200A-B,landing platform 305, and landing structure 400 of FIGS. 1, 2A, 2B, 3A,3B and 4 respectively.

Within examples, the landing platform 605 may be attached to an exteriorwall of a building. As such, the landing platform 605 may becantilevered off the wall of the building. In some aspects, the landingplatform 605 may take up very little space and may be placed almostanywhere on the wall. As such, the landing platform 605 may give UAVdelivery access or capacity to merchants or customers withoutinterfering with existing structures or requiring much construction.Within examples, such as in FIG. 6 , the landing platform 605 mayinclude round aluminum or steel pipes or rods bent and welded to formthe landing platform 605. In such an example a touchdown area of theplatform may coincide with an area of the platform surrounding thecavity 615. Further, the touchdown area, or the area where the UAV 625contacts and originally lands on the landing platform 605 may be angledand guide the UAV 625 into a docked position by utilizing gravitationalforces.

FIG. 7 illustrates yet another embodiment of a landing structure 700.The landing structure 700 may include a landing platform 705, a cavity715, and vertical support structure 745. Further, the landing structure700 may include similar elements and features of the landing structure100, the landing structures 200A-B, landing platform 305, the landingstructure 400, and the landing structure 600 of FIGS. 1, 2A, 2B, 3A, 3B,4 and 6 respectively.

Within examples, the landing platform 705 may be large enough to hold ordock multiple UAVs 725 at the same time. Further, the cavity may also belarge enough such that multiple UAVs 725 may be loaded or unloaded atthe same time. As exemplified in FIG. 7 , the landing structure 700 maybe installed over a service window of a merchant's store or restaurant.As such, the merchant or customer may have easy access to payloads beingdropped off or picked up by the UAVs 725.

FIG. 8 illustrates another embodiment of a landing structure 800. Thelanding structure 800 may include a landing platform 805, a cavity 815,a plurality of payloads 835, and a payload alignment apparatus 837.Further, the landing structure 800 may include similar elements andfeatures of the landing structures and platforms of FIGS. 1, 2A, 2B, 3A,3B, 4, 6, and 7 respectively.

Within examples, the landing platform may be integrated into an awningattached to a building. In other examples the landing platform 805 maybe integrated into umbrellas or rooftops or other existing structures.In some aspects, the landing platform 805 may be installed over aservice window or station. A merchant may be able to place the payload835 on a payload alignment apparatus 837 and the payload alignmentapparatus 837 may align the payload 835 under the cavity 815 such thatthe payload 835 may be secured by the UAV 825. The payload alignmentapparatus 837 may be installed under the landing platform 805 and mayinclude a conveyor, a lift, or a slide configured to move the payload835 to a pickup location that corresponds to a landing location on thelanding platform 805 for a UAV 825.

FIG. 9 illustrates another embodiment of multiple landing structures900A-C installed on a single building. Each of the landing structures900A-C may include a vertical support structure 945A-C, among othercomponents. Further, the landing structures 900A-C may include similarelements and features of the landing structures and platforms of FIGS.1, 2A, 2B, 3A, 3B, 4, 6, 7 and 8 respectively.

The building may be a restaurant or a warehouse and the UAVs 925A, 925B,and 925C may be accessible via multiple locations of the landingstructures 900A-C. For example, the landing structure 900A may be nextto a door or part of a door mount. As such, users may be able to dropoff or pick up varying payloads as the users enter or exit the building.Representing another example, the landing structure 900B may beinstalled as part of or through a roof of the building. As such, thelanding structure 900B may provide UAV delivery pickup/drop-off serviceto users inside the building, such as in a kitchen. For example, UAV925B may deliver produce or other ingredients to cooks in a kitchen viavertical support structure 945B by landing on the landing structure900B. In another example, the landing structure 900C may be near orcoupled to a drive through window of the building. The vertical supportstructures 945A-C may include elevator platforms, conveyor platforms, orother types of known transportation means to lift or move payloadsto/from the UAVs 925A-C from/to users below.

FIG. 10 illustrates another embodiment of a landing structure 1000. Thelanding structure 1000 may include a landing platform 1005, a track1020, and a vehicle 1046. Further, the landing structure 1000 mayinclude similar elements and features of the landing structures andplatforms of FIGS. 1, 2A, 2B, 3A, 3B, 4, 6, 7, 8 and 9 respectively.

The vehicle 1046 may be a van or truck such as a food truck that may usea UAV 1025. UAV 1025 may be used to deliver payloads including food tocustomers or may be used to drop off additional ingredients to cooks oremployees inside the truck. In other embodiments, the vehicle 1046 maybe a delivery truck or van capable of picking up or delivering packagesvia UAV 1025 as part of a larger delivery service network. For example,the vehicle 1046 may deliver packages to a neighborhood by driving tothe neighborhood and then utilizing the UAV 1025 for delivery tospecific addresses or locations.

In at least one aspect, the landing platform 1005 attached to thevehicle 1046 may not be located a buffer distance above an average humanheight. However, the landing structure 1000 may include other safetyfeatures such as a railing, cage, or other enclosure that may beincluded around the outer edges of the landing platform 1005 to protecthumans from injury while the UAV 1025 is landing or taking-off fromplatform 1005. Such an enclosure may extend from the landing platform1005 up to at least a buffer distance above the average human height.Within such an example, the UAV 1025 may land and take off verticallythrough the enclosure. In other aspects, other safety features such asan extendable awning that may cover the UAV 1025 while the UAV 1025 ison the platform may be included as part of the landing structure 1000.In another example, additional safety features may be included within aninterior of the vehicle 1046 so that people inside the vehicle who mayor may not interact with the UAV 1025 are protected.

VI. Further Embodiments of a UAV Landing Structure with PassivePositioning

FIGS. 11A-G depict another embodiment of a landing structure 1100.Specifically, FIGS. 11B-11G illustrate a UAV 1125 landing and taxiing toa docking station 1117. The landing structure 1100 may include a landingplatform 1105, a touchdown area 1110, a cavity 1115, the docking station1117, and a track 1120. Within examples the touchdown area 1110 may be apreferred landing location for the UAV 1125. The touchdown area 1110 maybe surrounded or at least somewhat surrounded by a track 1120. The track1120 may be a slot 1120 in the landing platform 1105 within FIGS. 11B-G.The slot 1120 may be cut into a surface of the landing platform 1105.Further, the landing structure 1100 may include similar elements andfeatures of the landing structures and platforms of FIGS. 1, 2A, 2B, 3A,3B, 4, 6, 7, 8, 9, and 10 respectively, that may or may not be shown inFIGS. 11A-G.

As depicted in FIG. 11A, the UAV 1125 may include at least one boom1122. The boom 1122 may couple to a wing of the UAV 1125. Further, theboom 1122 may include two landing supports 1123A-B. Each of the landingsupports 1123A-B may be a pad, a leg, a wheel or another type of landinggear that may support the UAV 1125 when it touches down and lands on thelanding platform 1105. The UAV 1125 may include vertical propellers1124V that may provide vertical thrust as well as lateral propellers1124L that may provide lateral thrust. Within at least one example,there may be six vertical propellers 1124V coupled to the boom 1122.

Further, as shown in FIG. 11A, each of the landing supports 1123A-B mayinclude a pin 1121 that extends beyond the landing support 1123. In someaspects, pins 1121 may only be within landing supports 1123A-B on oneside of the UAV 1125. So for example, in FIGS. 11B-11G, the pins 1121are only in the landing supports 1123A-B on the left hand side of theUAV 1125. Within some examples, the pin 1121 may be coupled to a springwithin the landing support 1123 so that the pin 1121 may retract orextend from the landing support 1123.

As shown in FIG. 11B, the UAV 1125 may land or touchdown on the landingplatform 1105. More specifically, the UAV 1125 may land in a touchdownarea 1110 that may be near a middle of the landing platform 1105.

As shown in FIG. 11C, the UAV 1125 may use forward thrust to propel theUAV 1125 towards the slot 1120. Because the touchdown area 1110 may besurrounded by the slot 1120, no matter the orientation of the UAV 1125when it lands, the UAV 1125 only needs to thrust forward, without anysteering control or feedback, to move laterally towards the slot 1120.In some aspects, even or symmetric thrust may be applied to the lateralpropellers 1124L in order to move the UAV 1125 laterally along thelanding platform 1105.

As shown in FIG. 11D, once the UAV 1125 reaches the slot 1120, the pin1121D of the front landing support 1123A may engage the slot 1120.Marker 1121D provides an example location where the pin 1121 of thefront landing support 1123A enters and engages the slot 1120. The pin1121 may engage the slot 1120 by dropping or extending down into theslot 1120, thus limiting the lateral movement of the UAV 1125. So as theUAV 1125 continues the symmetric forward thrust, the UAV 1125 will beginto rotate about the pin 1121 in the front landing support 1123A. Forexample, as shown in FIG. 11D, the UAV 1125 may be forced to turntowards the docking station 1117 because the pin 1121 has engaged in theslot 1120.

As shown in FIG. 11E, as the UAV 1125 continues the forward thrust theUAV 1125 has turned or rotated about the front landing support such thatthe pin 1121 of the back landing support 1123B may now engage the slot1120 similar to how the pin 1121 of the front landing support 1123A did.Marker 1121E shows the position at which the pin 1121 within the backlanding support 1123B reaches and engages the slot 1120. The UAV 1125may now have two pins 1121 engaged in the slot 1120.

As shown in FIG. 11F, with two pins 1121 engaged in the slot, as the UAV1125 continues to thrust forward, the slot 1120 guides the UAV 1125along the landing platform 1105 towards the docking station 1117. Inother words, the slot 1120 steers the UAV 1125 towards the dockingstation 1117.

Finally, as shown in FIG. 11G, the UAV 1125 is positioned over thecavity 1105 in the docking station 1117. The docking station 1117 may beconsidered a location in which the UAV 1125 is in a docked position andas such the UAV 1125 may be loaded/unloaded while in the docking station1117. The UAV 1125 was only required to provide symmetric forward thrustwhile the slot 1120 guided the UAV 1125 as the UAV 1125 taxied along thelanding platform 1105.

VII. Illustrative Unmanned Vehicles

FIG. 12A is a simplified illustration providing a top-down view of aUAV, according to an example embodiment. In particular, FIG. 12A showsan example of a fixed-wing UAV 1200, which may also be referred to as anairplane, an aeroplane, a biplane, a glider, or a plane, among otherpossibilities. The fixed-wing UAV 1200, as the name implies, hasstationary wings 1202 that generate lift based on the wing shape and thevehicle's forward airspeed. For instance, the two wings 1202 may have anairfoil-shaped cross section to produce an aerodynamic force on the UAV1200.

As depicted, the fixed-wing UAV 1200 may include a wing body 1204 ratherthan a clearly defined fuselage. The wing body 1204 may contain, forexample, control electronics such as an inertial measurement unit (IMU)and/or an electronic speed controller, batteries, other sensors, and/ora payload, among other possibilities. The illustrative UAV 1200 may alsoinclude landing gear (not shown) to assist with controlled take-offs andlandings. In other embodiments, other types of UAVs without landing gearare also possible.

The UAV 1200 further includes propulsion units 1206, which can eachinclude a motor, shaft, and propeller, for propelling the UAV 1200.Vertical stabilizers 1208 (or fins) may also be attached to the wingbody 1204 and/or the wings 1202 to stabilize the UAV's yaw (turn left orright) during flight. In some embodiments, the UAV 1200 may be also beconfigured to function as a glider. To do so, UAV 1200 may power off itsmotor, propulsion units, etc., and glide for a period of time.

During flight, the UAV 1200 may control the direction and/or speed ofits movement by controlling its pitch, roll, yaw, and/or altitude. Forexample, the vertical stabilizers 1208 may include one or more ruddersfor controlling the UAV's yaw, and the wings 1202 may include one ormore elevators for controlling the UAV's pitch and/or one or moreailerons for controlling the UAV's roll. As another example, increasingor decreasing the speed of all the propellers simultaneously can resultin the UAV 1200 increasing or decreasing its altitude, respectively.

Similarly, FIG. 12B shows another example of a fixed-wing UAV 1220. Thefixed-wing UAV 1220 includes a fuselage 1222, two wings 1224 with anairfoil-shaped cross section to provide lift for the UAV 1220, avertical stabilizer 1226 (or fin) to stabilize the plane's yaw (turnleft or right), a horizontal stabilizer 1228 (also referred to as anelevator or tailplane) to stabilize pitch (tilt up or down), landinggear 1230, and a propulsion unit 1232, which can include a motor, shaft,and propeller.

FIG. 12C shows an example of a UAV 1240 with a propeller in a pusherconfiguration. The term “pusher” refers to the fact that a propulsionunit 1242 is mounted at the back of the UAV and “pushes” the vehicleforward, in contrast to the propulsion unit being mounted at the frontof the UAV. Similar to the description provided for FIGS. 12A and 12B,FIG. 12C depicts common structures used in a pusher plane, including afuselage 1244, two wings 1246, vertical stabilizers 1248, and thepropulsion unit 1242, which can include a motor, shaft, and propeller.

FIG. 12D shows an example of a tail-sitter UAV 1260. In the illustratedexample, the tail-sitter UAV 1260 has fixed wings 1262 to provide liftand allow the UAV 1260 to glide horizontally (e.g., along the x-axis, ina position that is approximately perpendicular to the position shown inFIG. 12D). However, the fixed wings 1262 also allow the tail-sitter UAV1260 to take off and land vertically on its own.

For example, at a launch site, the tail-sitter UAV 1260 may bepositioned vertically (as shown) with its fins 1264 and/or wings 1262resting on the ground and stabilizing the UAV 1260 in the verticalposition. The tail-sitter UAV 1260 may then take off by operating itspropellers 1266 to generate an upward thrust (e.g., a thrust that isgenerally along the y-axis). Once at a suitable altitude, thetail-sitter UAV 1260 may use its flaps 1268 to reorient itself in ahorizontal position, such that its fuselage 1270 is closer to beingaligned with the x-axis than the y-axis. Positioned horizontally, thepropellers 1266 may provide forward thrust so that the tail-sitter UAV1260 can fly in a similar manner as a typical airplane.

Many variations on the illustrated fixed-wing UAVs are possible. Forinstance, fixed-wing UAVs may include more or fewer propellers, and/ormay utilize a ducted fan or multiple ducted fans for propulsion.Further, UAVs with more wings (e.g., an “x-wing” configuration with fourwings), with fewer wings, or even with no wings, are also possible.

As noted above, some embodiments may involve other types of UAVs, inaddition to or in the alternative to fixed-wing UAVs. For instance, FIG.12E shows an example of a rotorcraft that is commonly referred to as amulticopter 1280. The multicopter 1280 may also be referred to as aquadcopter, as it includes four rotors 1282. It should be understoodthat example embodiments may involve a rotorcraft with more or fewerrotors than the multicopter 1280. For example, a helicopter typicallyhas two rotors. Other examples with three or more rotors are possible aswell. Herein, the term “multicopter” refers to any rotorcraft havingmore than two rotors, and the term “helicopter” refers to rotorcrafthaving two rotors.

Referring to the multicopter 1280 in greater detail, the four rotors1282 provide propulsion and maneuverability for the multicopter 1280.More specifically, each rotor 1282 includes blades that are attached toa motor 1284. Configured as such, the rotors 1282 may allow themulticopter 1280 to take off and land vertically, to maneuver in anydirection, and/or to hover. Further, the pitch of the blades may beadjusted as a group and/or differentially, and may allow the multicopter1280 to control its pitch, roll, yaw, and/or altitude.

It should be understood that references herein to an “unmanned” aerialvehicle or UAV can apply equally to autonomous and semi-autonomousaerial vehicles. In an autonomous implementation, all functionality ofthe aerial vehicle is automated; e.g., pre-programmed or controlled viareal-time computer functionality that responds to input from varioussensors and/or pre-determined information. In a semi-autonomousimplementation, some functions of an aerial vehicle may be controlled bya human operator, while other functions are carried out autonomously.Further, in some embodiments, a UAV may be configured to allow a remoteoperator to take over functions that can otherwise be controlledautonomously by the UAV. Yet further, a given type of function may becontrolled remotely at one level of abstraction and performedautonomously at another level of abstraction. For example, a remoteoperator could control high level navigation decisions for a UAV, suchas by specifying that the UAV should travel from one location to another(e.g., from a warehouse in a suburban area to a delivery address in anearby city), while the UAV's navigation system autonomously controlsmore fine-grained navigation decisions, such as the specific route totake between the two locations, specific flight controls to achieve theroute and avoid obstacles while navigating the route, and so on.

More generally, it should be understood that the example UAVs describedherein are not intended to be limiting. Example embodiments may relateto, be implemented within, or take the form of any type of unmannedaerial vehicle.

VIII. Illustrative UAV Components

FIG. 13 is a simplified block diagram illustrating components of a UAV1300, according to an example embodiment. UAV 1300 may take the form of,or be similar in form to, one of the UAVs 1200, 1220, 1240, 1260, and1280 described in reference to FIGS. 12A-12E. However, UAV 1300 may alsotake other forms.

UAV 1300 may include various types of sensors, and may include acomputing system configured to provide the functionality describedherein. In the illustrated embodiment, the sensors of UAV 1300 includean inertial measurement unit (IMU) 1302, ultrasonic sensor(s) 1304, anda GPS 1306, among other possible sensors and sensing systems.

In the illustrated embodiment, UAV 1300 also includes one or moreprocessors 1308. A processor 1308 may be a general-purpose processor ora special purpose processor (e.g., digital signal processors,application specific integrated circuits, etc.). The one or moreprocessors 1308 can be configured to execute computer-readable programinstructions 1312 that are stored in the data storage 1310 and areexecutable to provide the functionality of a UAV described herein.

The data storage 1310 may include or take the form of one or morecomputer-readable storage media that can be read or accessed by at leastone processor 1308. The one or more computer-readable storage media caninclude volatile and/or non-volatile storage components, such asoptical, magnetic, organic or other memory or disc storage, which can beintegrated in whole or in part with at least one of the one or moreprocessors 1308. In some embodiments, the data storage 1310 can beimplemented using a single physical device (e.g., one optical, magnetic,organic or other memory or disc storage unit), while in otherembodiments, the data storage 1310 can be implemented using two or morephysical devices.

As noted, the data storage 1310 can include computer-readable programinstructions 1312 and perhaps additional data, such as diagnostic dataof the UAV 1300. As such, the data storage 1310 may include programinstructions 1312 to perform or facilitate some or all of the UAVfunctionality described herein. For instance, in the illustratedembodiment, program instructions 1312 include a navigation module 1314.

A. Sensors

In an illustrative embodiment, IMU 1302 may include both anaccelerometer and a gyroscope, which may be used together to determinean orientation of the UAV 1300. In particular, the accelerometer canmeasure the orientation of the vehicle with respect to earth, while thegyroscope measures the rate of rotation around an axis. IMUs arecommercially available in low-cost, low-power packages. For instance, anIMU 1302 may take the form of or include a miniaturizedMicroElectroMechanical System (MEMS) or a NanoElectroMechanical System(NEMS). Other types of IMUs may also be utilized.

An IMU 1302 may include other sensors, in addition to accelerometers andgyroscopes, which may help to better determine position and/or help toincrease autonomy of the UAV 1300. Two examples of such sensors aremagnetometers and pressure sensors. In some embodiments, a UAV mayinclude a low-power, digital 3-axis magnetometer, which can be used torealize an orientation independent electronic compass for accurateheading information. However, other types of magnetometers may beutilized as well. Other examples are also possible. Further, note that aUAV could include some or all of the above-described inertia sensors asseparate components from an IMU.

UAV 1300 may also include a pressure sensor or barometer, which can beused to determine the altitude of the UAV 1300. Alternatively, othersensors, such as sonic altimeters or radar altimeters, can be used toprovide an indication of altitude, which may help to improve theaccuracy of and/or prevent drift of an IMU.

In a further aspect, UAV 1300 may include one or more sensors that allowthe UAV to sense objects in the environment. For instance, in theillustrated embodiment, UAV 1300 includes ultrasonic sensor(s) 1304.Ultrasonic sensor(s) 1304 can determine the distance to an object bygenerating sound waves and determining the time interval betweentransmission of the wave and receiving the corresponding echo off anobject. A typical application of an ultrasonic sensor for unmannedvehicles or IMUs is low-level altitude control and obstacle avoidance.An ultrasonic sensor can also be used for vehicles that need to hover ata certain height or need to be capable of detecting obstacles. Othersystems can be used to determine, sense the presence of, and/ordetermine the distance to nearby objects, such as a light detection andranging (LIDAR) system, laser detection and ranging (LADAR) system,and/or an infrared or forward-looking infrared (FLIR) system, amongother possibilities.

In some embodiments, UAV 1300 may also include one or more imagingsystem(s). For example, one or more still and/or video cameras may beutilized by UAV 1300 to capture image data from the UAV's environment.As a specific example, charge-coupled device (CCD) cameras orcomplementary metal-oxide-semiconductor (CMOS) cameras can be used withunmanned vehicles. Such imaging sensor(s) have numerous possibleapplications, such as obstacle avoidance, localization techniques,ground tracking for more accurate navigation (e.g., by applying opticalflow techniques to images), video feedback, and/or image recognition andprocessing, among other possibilities.

UAV 1300 may also include a GPS receiver 1306. The GPS receiver 1306 maybe configured to provide data that is typical of well-known GPS systems,such as the GPS coordinates of the UAV 1300. Such GPS data may beutilized by the UAV 1300 for various functions. As such, the UAV may useits GPS receiver 1306 to help navigate to the caller's location, asindicated, at least in part, by the GPS coordinates provided by theirmobile device. Other examples are also possible.

B. Navigation and Location Determination

The navigation module 1314 may provide functionality that allows the UAV1300 to, e.g., move about its environment and reach a desired location.To do so, the navigation module 1314 may control the altitude and/ordirection of flight by controlling the mechanical features of the UAVthat affect flight (e.g., its rudder(s), elevator(s), aileron(s), and/orthe speed of its propeller(s)).

In order to navigate the UAV 1300 to a target location, the navigationmodule 1314 may implement various navigation techniques, such asmap-based navigation and localization-based navigation, for instance.With map-based navigation, the UAV 1300 may be provided with a map ofits environment, which may then be used to navigate to a particularlocation on the map. With localization-based navigation, the UAV 1300may be capable of navigating in an unknown environment usinglocalization. Localization-based navigation may involve the UAV 1300building its own map of its environment and calculating its positionwithin the map and/or the position of objects in the environment. Forexample, as a UAV 1300 moves throughout its environment, the UAV 1300may continuously use localization to update its map of the environment.This continuous mapping process may be referred to as simultaneouslocalization and mapping (SLAM). Other navigation techniques may also beutilized.

In some embodiments, the navigation module 1314 may navigate using atechnique that relies on waypoints. In particular, waypoints are sets ofcoordinates that identify points in physical space. For instance, anair-navigation waypoint may be defined by a certain latitude, longitude,and altitude. Accordingly, navigation module 1314 may cause UAV 1300 tomove from waypoint to waypoint, in order to ultimately travel to a finaldestination (e.g., a final waypoint in a sequence of waypoints).

In a further aspect, the navigation module 1314 and/or other componentsand systems of the UAV 1300 may be configured for “localization” to moreprecisely navigate to the scene of a target location. More specifically,it may be desirable in certain situations for a UAV to be within athreshold distance of the target location where a payload 1320 is beingdelivered by a UAV (e.g., within a few feet of the target destination).To this end, a UAV may use a two-tiered approach in which it uses amore-general location-determination technique to navigate to a generalarea that is associated with the target location, and then use amore-refined location-determination technique to identify and/ornavigate to the target location within the general area.

For example, the UAV 1300 may navigate to the general area of a targetdestination where a payload 1320 is being delivered using waypointsand/or map-based navigation. The UAV may then switch to a mode in whichit utilizes a localization process to locate and travel to a morespecific location. For instance, if the UAV 1300 is to deliver a payloadto a user's home, the UAV 1300 may need to be substantially close to thetarget location in order to avoid delivery of the payload to undesiredareas (e.g., onto a roof, into a pool, onto a neighbor's property,etc.). However, a GPS signal may only get the UAV 1300 so far (e.g.,within a block of the user's home). A more preciselocation-determination technique may then be used to find the specifictarget location.

Various types of location-determination techniques may be used toaccomplish localization of the target delivery location once the UAV1300 has navigated to the general area of the target delivery location.For instance, the UAV 1300 may be equipped with one or more sensorysystems, such as, for example, ultrasonic sensors 1304, infrared sensors(not shown), and/or other sensors, which may provide input that thenavigation module 1314 utilizes to navigate autonomously orsemi-autonomously to the specific target location.

As another example, once the UAV 1300 reaches the general area of thetarget delivery location (or of a moving subject such as a person ortheir mobile device), the UAV 1300 may switch to a “fly-by-wire” modewhere it is controlled, at least in part, by a remote operator, who cannavigate the UAV 1300 to the specific target location. To this end,sensory data from the UAV 1300 may be sent to the remote operator toassist them in navigating the UAV 1300 to the specific location.

As yet another example, the UAV 1300 may include a module that is ableto signal to a passer-by for assistance in either reaching the specifictarget delivery location; for example, the UAV 1300 may display a visualmessage requesting such assistance in a graphic display, play an audiomessage or tone through speakers to indicate the need for suchassistance, among other possibilities. Such a visual or audio messagemight indicate that assistance is needed in delivering the UAV 1300 to aparticular person or a particular location, and might provideinformation to assist the passer-by in delivering the UAV 1300 to theperson or location (e.g., a description or picture of the person orlocation, and/or the person or location's name), among otherpossibilities. Such a feature can be useful in a scenario in which theUAV is unable to use sensory functions or another location-determinationtechnique to reach the specific target location. However, this featureis not limited to such scenarios.

In some embodiments, once the UAV 1300 arrives at the general area of atarget delivery location, the UAV 1300 may utilize a beacon from auser's remote device (e.g., the user's mobile phone) to locate theperson. Such a beacon may take various forms. As an example, considerthe scenario where a remote device, such as the mobile phone of a personwho requested a UAV delivery, is able to send out directional signals(e.g., via an RF signal, a light signal and/or an audio signal). In thisscenario, the UAV 1300 may be configured to navigate by “sourcing” suchdirectional signals—in other words, by determining where the signal isstrongest and navigating accordingly. As another example, a mobiledevice can emit a frequency, either in the human range or outside thehuman range, and the UAV 1300 can listen for that frequency and navigateaccordingly. As a related example, if the UAV 1300 is listening forspoken commands, then the UAV 1300 could utilize spoken statements, suchas “I'm over here!” to source the specific location of the personrequesting delivery of a payload.

In an alternative arrangement, a navigation module may be implemented ata remote computing device, which communicates wirelessly with the UAV1300. The remote computing device may receive data indicating theoperational state of the UAV 1300, sensor data from the UAV 1300 thatallows it to assess the environmental conditions being experienced bythe UAV 1300, and/or location information for the UAV 1300. Providedwith such information, the remote computing device may determinealtitudinal and/or directional adjustments that should be made by theUAV 1300 and/or may determine how the UAV 1300 should adjust itsmechanical features (e.g., its rudder(s), elevator(s), aileron(s),and/or the speed of its propeller(s)) in order to effectuate suchmovements. The remote computing system may then communicate suchadjustments to the UAV 1300 so it can move in the determined manner.

C. Communication Systems

In a further aspect, the UAV 1300 includes one or more communicationsystems 1316. The communications systems 1316 may include one or morewireless interfaces and/or one or more wireline interfaces, which allowthe UAV 1300 to communicate via one or more networks. Such wirelessinterfaces may provide for communication under one or more wirelesscommunication protocols, such as Bluetooth, WiFi (e.g., an IEEE 802.11protocol), Long-Term Evolution (LTE), WiMAX (e.g., an IEEE 802.16standard), a radio-frequency ID (RFID) protocol, near-fieldcommunication (NFC), and/or other wireless communication protocols. Suchwireline interfaces may include an Ethernet interface, a UniversalSerial Bus (USB) interface, or similar interface to communicate via awire, a twisted pair of wires, a coaxial cable, an optical link, afiber-optic link, or other physical connection to a wireline network.

In some embodiments, a UAV 1300 may include communication systems 1316that allow for both short-range communication and long-rangecommunication. For example, the UAV 1300 may be configured forshort-range communications using Bluetooth and for long-rangecommunications under a CDMA protocol. In such an embodiment, the UAV1300 may be configured to function as a “hot spot;” or in other words,as a gateway or proxy between a remote support device and one or moredata networks, such as a cellular network and/or the Internet.Configured as such, the UAV 1300 may facilitate data communications thatthe remote support device would otherwise be unable to perform byitself.

For example, the UAV 1300 may provide a WiFi connection to a remotedevice, and serve as a proxy or gateway to a cellular service provider'sdata network, which the UAV might connect to under an LTE or a 3Gprotocol, for instance. The UAV 1300 could also serve as a proxy orgateway to a high-altitude balloon network, a satellite network, or acombination of these networks, among others, which a remote device mightnot be able to otherwise access.

D. Power Systems

In a further aspect, the UAV 1300 may include power system(s) 1318. Thepower system 1318 may include one or more batteries for providing powerto the UAV 1300. In one example, the one or more batteries may berechargeable and each battery may be recharged via a wired connectionbetween the battery and a power supply and/or via a wireless chargingsystem, such as an inductive charging system that applies an externaltime-varying magnetic field to an internal battery.

E. Payloads

The UAV 1300 may employ various systems and configurations in order totransport a payload 1320. In some implementations, the payload 1320 of agiven UAV 1300 may include or take the form of a “package” designed totransport various goods to a target delivery location. For example, theUAV 1300 can include a compartment, in which an item or items may betransported. Such a package may one or more food items, purchased goods,medical items, or any other object(s) having a size and weight suitableto be transported between two locations by the UAV. In otherembodiments, a payload 1320 may simply be the one or more items that arebeing delivered (e.g., without any package housing the items).

In some embodiments, the payload 1320 may be attached to the UAV andlocated substantially outside of the UAV during some or all of a flightby the UAV. For example, the package may be tethered or otherwisereleasably attached below the UAV during flight to a target location. Inan embodiment where a package carries goods below the UAV, the packagemay include various features that protect its contents from theenvironment, reduce aerodynamic drag on the system, and prevent thecontents of the package from shifting during UAV flight.

For instance, when the payload 1320 takes the form of a package fortransporting items, the package may include an outer shell constructedof water-resistant cardboard, plastic, or any other lightweight andwater-resistant material. Further, in order to reduce drag, the packagemay feature smooth surfaces with a pointed front that reduces thefrontal cross-sectional area. Further, the sides of the package maytaper from a wide bottom to a narrow top, which allows the package toserve as a narrow pylon that reduces interference effects on the wing(s)of the UAV. This may move some of the frontal area and volume of thepackage away from the wing(s) of the UAV, thereby preventing thereduction of lift on the wing(s) cause by the package. Yet further, insome embodiments, the outer shell of the package may be constructed froma single sheet of material in order to reduce air gaps or extramaterial, both of which may increase drag on the system. Additionally oralternatively, the package may include a stabilizer to dampen packageflutter. This reduction in flutter may allow the package to have a lessrigid connection to the UAV and may cause the contents of the package toshift less during flight.

In order to deliver the payload, the UAV may include a retractabledelivery system that lowers the payload to the ground while the UAVhovers above. For instance, the UAV may include a tether that is coupledto the payload by a release mechanism. A winch can unwind and wind thetether to lower and raise the release mechanism. The release mechanismcan be configured to secure the payload while being lowered from the UAVby the tether and release the payload upon reaching ground level. Therelease mechanism can then be retracted to the UAV by reeling in thetether using the winch.

In some implementations, the payload 1320 may be passively released onceit is lowered to the ground. For example, a passive release mechanismmay include one or more swing arms adapted to retract into and extendfrom a housing. An extended swing arm may form a hook on which thepayload 1320 may be attached. Upon lowering the release mechanism andthe payload 1320 to the ground via a tether, a gravitational force aswell as a downward inertial force on the release mechanism may cause thepayload 1320 to detach from the hook allowing the release mechanism tobe raised upwards toward the UAV. The release mechanism may furtherinclude a spring mechanism that biases the swing arm to retract into thehousing when there are no other external forces on the swing arm. Forinstance, a spring may exert a force on the swing arm that pushes orpulls the swing arm toward the housing such that the swing arm retractsinto the housing once the weight of the payload 1320 no longer forcesthe swing arm to extend from the housing. Retracting the swing arm intothe housing may reduce the likelihood of the release mechanism snaggingthe payload 1320 or other nearby objects when raising the releasemechanism toward the UAV upon delivery of the payload 1320.

Active payload release mechanisms are also possible. For example,sensors such as a barometric pressure based altimeter and/oraccelerometers may help to detect the position of the release mechanism(and the payload) relative to the ground. Data from the sensors can becommunicated back to the UAV and/or a control system over a wirelesslink and used to help in determining when the release mechanism hasreached ground level (e.g., by detecting a measurement with theaccelerometer that is characteristic of ground impact). In otherexamples, the UAV may determine that the payload has reached the groundbased on a weight sensor detecting a threshold low downward force on thetether and/or based on a threshold low measurement of power drawn by thewinch when lowering the payload.

Other systems and techniques for delivering a payload, in addition or inthe alternative to a tethered delivery system are also possible. Forexample, a UAV 1300 could include an air-bag drop system or a parachutedrop system. Alternatively, a UAV 1300 carrying a payload could simplyland on the ground at a delivery location. Other examples are alsopossible.

IX. Illustrative UAV Deployment Systems

UAV systems may be implemented in order to provide various UAV-relatedservices. In particular, UAVs may be provided at a number of differentlaunch sites that may be in communication with regional and/or centralcontrol systems. Such a distributed UAV system may allow UAVs to bequickly deployed to provide services across a large geographic area(e.g., that is much larger than the flight range of any single UAV). Forexample, UAVs capable of carrying payloads may be distributed at anumber of launch sites across a large geographic area (possibly eventhroughout an entire country, or even worldwide), in order to provideon-demand transport of various items to locations throughout thegeographic area. FIG. 14 is a simplified block diagram illustrating adistributed UAV system 1400, according to an example embodiment.

In the illustrative UAV system 1400, an access system 1402 may allow forinteraction with, control of, and/or utilization of a network of UAVs1404. In some embodiments, an access system 1402 may be a computingsystem that allows for human-controlled dispatch of UAVs 1404. As such,the control system may include or otherwise provide a user interfacethrough which a user can access and/or control the UAVs 1404.

In some embodiments, dispatch of the UAVs 1404 may additionally oralternatively be accomplished via one or more automated processes. Forinstance, the access system 1402 may dispatch one of the UAVs 1404 totransport a payload to a target location, and the UAV may autonomouslynavigate to the target location by utilizing various on-board sensors,such as a GPS receiver and/or other various navigational sensors.

Further, the access system 1402 may provide for remote operation of aUAV. For instance, the access system 1402 may allow an operator tocontrol the flight of a UAV via its user interface. As a specificexample, an operator may use the access system 1402 to dispatch a UAV1404 to a target location. The UAV 1404 may then autonomously navigateto the general area of the target location. At this point, the operatormay use the access system 1402 to take control of the UAV 1404 andnavigate the UAV to the target location (e.g., to a particular person towhom a payload is being transported). Other examples of remote operationof a UAV are also possible.

In an illustrative embodiment, the UAVs 1404 may take various forms. Forexample, each of the UAVs 1404 may be a UAV such as those illustrated inFIGS. 12A-12E. However, UAV system 1400 may also utilize other types ofUAVs without departing from the scope of the invention. In someimplementations, all of the UAVs 1404 may be of the same or a similarconfiguration. However, in other implementations, the UAVs 1404 mayinclude a number of different types of UAVs. For instance, the UAVs 1404may include a number of types of UAVs, with each type of UAV beingconfigured for a different type or types of payload deliverycapabilities.

The UAV system 1400 may further include a remote device 1406, which maytake various forms. Generally, the remote device 1406 may be any devicethrough which a direct or indirect request to dispatch a UAV can bemade. (Note that an indirect request may involve any communication thatmay be responded to by dispatching a UAV, such as requesting a packagedelivery). In an example embodiment, the remote device 1406 may be amobile phone, tablet computer, laptop computer, personal computer, orany network-connected computing device. Further, in some instances, theremote device 1406 may not be a computing device. As an example, astandard telephone, which allows for communication via plain oldtelephone service (POTS), may serve as the remote device 1406. Othertypes of remote devices are also possible.

Further, the remote device 1406 may be configured to communicate withaccess system 1402 via one or more types of communication network(s)1408. For example, the remote device 1406 may communicate with theaccess system 1402 (or a human operator of the access system 1402) bycommunicating over a POTS network, a cellular network, and/or a datanetwork such as the Internet. Other types of networks may also beutilized.

In some embodiments, the remote device 1406 may be configured to allow auser to request delivery of one or more items to a desired location. Forexample, a user could request UAV delivery of a package to their homevia their mobile phone, tablet, or laptop. As another example, a usercould request dynamic delivery to wherever they are located at the timeof delivery. To provide such dynamic delivery, the UAV system 1400 mayreceive location information (e.g., GPS coordinates, etc.) from theuser's mobile phone, or any other device on the user's person, such thata UAV can navigate to the user's location (as indicated by their mobilephone).

In an illustrative arrangement, the central dispatch system 1410 may bea server or group of servers, which is configured to receive dispatchmessages requests and/or dispatch instructions from the access system1402. Such dispatch messages may request or instruct the centraldispatch system 1410 to coordinate the deployment of UAVs to varioustarget locations. The central dispatch system 1410 may be furtherconfigured to route such requests or instructions to one or more localdispatch systems 1412. To provide such functionality, the centraldispatch system 1410 may communicate with the access system 1402 via adata network, such as the Internet or a private network that isestablished for communications between access systems and automateddispatch systems.

In the illustrated configuration, the central dispatch system 1410 maybe configured to coordinate the dispatch of UAVs 1404 from a number ofdifferent local dispatch systems 1412. As such, the central dispatchsystem 1410 may keep track of which UAVs 1404 are located at which localdispatch systems 1412, which UAVs 1404 are currently available fordeployment, and/or which services or operations each of the UAVs 1404 isconfigured for (in the event that a UAV fleet includes multiple types ofUAVs configured for different services and/or operations). Additionallyor alternatively, each local dispatch system 1412 may be configured totrack which of its associated UAVs 1404 are currently available fordeployment and/or are currently in the midst of item transport.

In some cases, when the central dispatch system 1410 receives a requestfor UAV-related service (e.g., transport of an item) from the accesssystem 1402, the central dispatch system 1410 may select a specific UAV1404 to dispatch. The central dispatch system 1410 may accordinglyinstruct the local dispatch system 1412 that is associated with theselected UAV to dispatch the selected UAV. The local dispatch system1412 may then operate its associated deployment system 1414 to launchthe selected UAV. In other cases, the central dispatch system 1410 mayforward a request for a UAV-related service to a local dispatch system1412 that is near the location where the support is requested and leavethe selection of a particular UAV 1404 to the local dispatch system1412.

In an example configuration, the local dispatch system 1412 may beimplemented as a computing system at the same location as the deploymentsystem(s) 1414 that it controls. For example, the local dispatch system1412 may be implemented by a computing system installed at a building,such as a warehouse, where the deployment system(s) 1414 and UAV(s) 1404that are associated with the particular local dispatch system 1412 arealso located. In other embodiments, the local dispatch system 1412 maybe implemented at a location that is remote to its associated deploymentsystem(s) 1414 and UAV(s) 1404.

Numerous variations on and alternatives to the illustrated configurationof the UAV system 1400 are possible. For example, in some embodiments, auser of the remote device 1406 could request delivery of a packagedirectly from the central dispatch system 1410. To do so, an applicationmay be implemented on the remote device 1406 that allows the user toprovide information regarding a requested delivery, and generate andsend a data message to request that the UAV system 1400 provide thedelivery. In such an embodiment, the central dispatch system 1410 mayinclude automated functionality to handle requests that are generated bysuch an application, evaluate such requests, and, if appropriate,coordinate with an appropriate local dispatch system 1412 to deploy aUAV.

Further, some or all of the functionality that is attributed herein tothe central dispatch system 1410, the local dispatch system(s) 1412, theaccess system 1402, and/or the deployment system(s) 1414 may be combinedin a single system, implemented in a more complex system, and/orredistributed among the central dispatch system 1410, the local dispatchsystem(s) 1412, the access system 1402, and/or the deployment system(s)1414 in various ways.

Yet further, while each local dispatch system 1412 is shown as havingtwo associated deployment systems 1414, a given local dispatch system1412 may alternatively have more or fewer associated deployment systems1414. Similarly, while the central dispatch system 1410 is shown asbeing in communication with two local dispatch systems 1412, the centraldispatch system 1410 may alternatively be in communication with more orfewer local dispatch systems 1412.

In a further aspect, the deployment systems 1414 may take various forms.In general, the deployment systems 1414 may take the form of or includesystems for physically launching one or more of the UAVs 1404. Suchlaunch systems may include features that provide for an automated UAVlaunch and/or features that allow for a human-assisted UAV launch.Further, the deployment systems 1414 may each be configured to launchone particular UAV 1404, or to launch multiple UAVs 1404.

The deployment systems 1414 may further be configured to provideadditional functions, including for example, diagnostic-relatedfunctions such as verifying system functionality of the UAV, verifyingfunctionality of devices that are housed within a UAV (e.g., a payloaddelivery apparatus), and/or maintaining devices or other items that arehoused in the UAV (e.g., by monitoring a status of a payload such as itstemperature, weight, etc.).

In some embodiments, the deployment systems 1414 and their correspondingUAVs 1404 (and possibly associated local dispatch systems 1412) may bestrategically distributed throughout an area such as a city. Forexample, the deployment systems 1414 may be strategically distributedsuch that each deployment system 1414 is proximate to one or morepayload pickup locations (e.g., near a restaurant, store, or warehouse).However, the deployment systems 1414 (and possibly the local dispatchsystems 1412) may be distributed in other ways, depending upon theparticular implementation. As an additional example, kiosks that allowusers to transport packages via UAVs may be installed in variouslocations. Such kiosks may include UAV launch systems, and may allow auser to provide their package for loading onto a UAV and pay for UAVshipping services, among other possibilities. Other examples are alsopossible.

In a further aspect, the UAV system 1400 may include or have access to auser-account database 1416. The user-account database 1416 may includedata for a number of user accounts, and which are each associated withone or more person. For a given user account, the user-account database1416 may include data related to or useful in providing UAV-relatedservices. Typically, the user data associated with each user account isoptionally provided by an associated user and/or is collected with theassociated user's permission.

Further, in some embodiments, a person may be required to register for auser account with the UAV system 1400, if they wish to be provided withUAV-related services by the UAVs 1404 from UAV system 1400. As such, theuser-account database 1416 may include authorization information for agiven user account (e.g., a username and password), and/or otherinformation that may be used to authorize access to a user account.

In some embodiments, a person may associate one or more of their deviceswith their user account, such that they can access the services of UAVsystem 1400. For example, when a person uses an associated mobile phoneto, e.g., place a call to an operator of the access system 1402 or senda message requesting a UAV-related service to a dispatch system, thephone may be identified via a unique device identification number, andthe call or message may then be attributed to the associated useraccount. Other examples are also possible.

X. Conclusion

The particular arrangements shown in the Figures should not be viewed aslimiting. It should be understood that other embodiments may includemore or less of each element shown in a given Figure. Further, some ofthe illustrated elements may be combined or omitted. Yet further, anexemplary embodiment may include elements that are not illustrated inthe Figures.

Additionally, while various aspects and embodiments have been disclosedherein, other aspects and embodiments will be apparent to those skilledin the art. The various aspects and embodiments disclosed herein are forpurposes of illustration and are not intended to be limiting, with thetrue scope and spirit being indicated by the following claims. Otherembodiments may be utilized, and other changes may be made, withoutdeparting from the spirit or scope of the subject matter presentedherein. It will be readily understood that the aspects of the presentdisclosure, as generally described herein, and illustrated in theFigures, can be arranged, substituted, combined, separated, and designedin a wide variety of different configurations, all of which arecontemplated herein.

The invention claimed is:
 1. A method comprising: landing an unmannedaerial vehicle (UAV) on a touchdown area of a landing platform, whereinthe UAV comprises a winch system including a tether coupleable to apayload; moving the UAV, after landing on the touchdown area of thelanding platform, across the landing platform from the touchdown area toa track that runs along the landing platform and along at least aportion of a cavity of the landing platform; guiding the UAV along thetrack to a docked position in which the tether is positioned over thecavity, wherein guiding the UAV along the track includes applyingforward thrust with the UAV and engaging landing gear of the UAV withthe track; and loading or unloading, by the tether, a payload to or fromthe UAV through the cavity when the UAV is in the docked position. 2.The method of claim 1, wherein the landing platform is attached to abuilding.
 3. The method of claim 1, wherein the landing platform isattached to a vehicle.
 4. The method of claim 1, further comprising,after landing the UAV on the landing platform, charging a battery of theUAV.
 5. The method of claim 4, wherein the battery is charged when theUAV is in the docked position.
 6. A method comprising: landing anunmanned aerial vehicle (UAV) on a touchdown area of a landing platform;moving the UAV across the landing platform from the touchdown area to atrack that runs along the landing platform and along at least a portionof a cavity of the landing platform, wherein the track tapers outwardfrom the touchdown area to the cavity; guiding the UAV along the trackto a docked position over the cavity; and loading or unloading a payloadto or from the UAV through the cavity when the UAV is in the dockedposition.
 7. The method of claim 6, wherein the track comprises a raisedtrack.
 8. The method of claim 6, wherein guiding the UAV along the trackincludes applying forward thrust with the UAV.
 9. The method of claim 6,wherein guiding the UAV along the track includes engaging landing gearof the UAV with the track.
 10. The method of claim 6, furthercomprising, after landing the UAV on the landing platform, charging abattery of the UAV.
 11. The method of claim 10, wherein the battery ischarged when the UAV is in the docked position.
 12. A method comprising:landing an unmanned aerial vehicle (UAV) on a touchdown area of alanding platform, wherein the UAV comprises a boom with a first landingpad and a pin that extends beyond the first landing pad; moving the UAVacross the landing platform from the touchdown area to a track that runsalong the landing platform to a docking station, wherein the trackcomprises a slot in the landing platform; engaging the first pin of theboom of the UAV in the slot of the track; guiding the UAV, with the pinof the boom engaged in the slot, along the track to a docked position atthe docking station.
 13. The method of claim 12, wherein the boomcomprises a second landing pad and a second pin that extends beyond thesecond landing pad, and wherein the method further comprises engagingthe second pin of the boom in the slot of the track.
 14. The method ofclaim 12, further comprising loading or unloading a payload to or fromthe UAV when the UAV is in the docked position.
 15. The method of claim12, wherein the touchdown area is surrounded by the track.
 16. Themethod of claim 12, wherein the slot steers the UAV toward the dockingstation.
 17. The method of claim 12, further comprising, after landingthe UAV on the landing platform, charging a battery of the UAV.
 18. Themethod of claim 17, wherein the battery is charged when the UAV is inthe docked position.